Add UR30 support (backport #899)

[mergify]

This is an automatic backport of pull request #899 done by Mergify.
Cherry-pick of 60f26aa has failed:

On branch mergify/bp/humble/pr-899
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Changes to be committed:
	modified:   ur_moveit_config/launch/ur_moveit.launch.py
	new file:   ur_robot_driver/config/ur30_update_rate.yaml
	modified:   ur_robot_driver/doc/usage.rst
	new file:   ur_robot_driver/launch/ur30.launch.py
	modified:   ur_robot_driver/launch/ur_control.launch.py

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   README.md
	deleted by us:   ur_robot_driver/test/test_common.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[VinDp]

Related to #128

[fmauch]

@VinDp please remove the unrelated test_common.py file from this PR.

[fmauch]

I think that file does not belong into this PR.